ME 362 VIBRATIONS I

Lecture 4

TORSIONAL SYSTEMS
SINGLE- AND MULTI- ROTOR SYSTEMS
Faisal Wahib Adam
Mechanical Engineering Department, KNUST
Jan 2014
TORSIONAL SYSTEMS
SINGLE- AND MULTI- ROTOR SYSTEMS
Disc of moment of inertia, I, attached to shaft

𝐼 𝜃ሷ + 𝑘𝜃 = 0

𝜃ሷ + 𝜔2 𝜃 = 0

4
𝑘 𝐺𝐽 𝜋𝑑
𝜔2 = ; 𝑘 = ; 𝐽 =
𝐼 𝑙 32

𝐺𝐽
𝜔= rad/s
𝐼𝑙
 Rotor attached to shaft between two fixed
ends

𝐼 𝜃ሷ + (𝑘1 + 𝑘2 )𝜃 = 0

𝜃ሷ + 𝜔2 𝜃 = 0

4 4
𝑘1 + 𝑘 2 𝐺𝐽1 𝐺𝐽2 𝜋𝑑1 𝜋𝑑2
𝜔2 = ; 𝑘1 = ; 𝑘2 = ;𝐽 = ;𝐽 =
𝐼 𝑎 𝑏 1 32 2 32

𝐺 𝐽1 𝐽2
𝜔= + rad/s
𝐼 𝑎 𝑏
Two-rotor system

𝐺𝐽
𝜔1 = 𝑟𝑎𝑑/𝑠
𝐼𝐴 𝑎

𝐺𝐽
𝜔2 = rad/s
𝐼𝐵 𝑏
At point K, i.e., node
𝜔1 = 𝜔2
𝑎𝐼𝐴 = 𝑏𝐼𝐵 … . 𝑖
K, is the position of the node. 𝑎 + 𝑏 = 𝑙 … . 𝑖𝑖
A node is the point where amplitude Solving (i) and (ii) simultaneously gives a and
is minimal or tends to zero b, the location of the node, from which the
natural frequency y of the system can be found.
Three-rotor system
Here there are two possible modes of vibration, having two
nodes as shown

𝐺𝐽 𝐺𝐽
𝜔1 = 𝑟𝑎𝑑/𝑠; 𝜔3 = rad/s
𝐼𝐴 𝑎 𝐼𝑐 𝑐

𝐺 1 1
𝜔2 = +
𝐼𝐵 𝑙1 − 𝑎 𝑙2 − 𝑏

The frequency of vibration of A, B and C must be the same so that

a and c may be determined by equating 𝜔1 , 𝜔2 and 𝜔3 . The
resulting quadratic will give two values for both a and c; one pair
will give the positions of the nodes for the two-node vibration,
but of the other pair only one value will give a node lying within
the limits of the corresponding part of the shaft. This will be the
node for the single-node vibration.
Effect of Inertia of Shaft; Torsionally Equivalent
Shaft

Let the instantaneous angular velocity of the rotor in the above Figure be Ω.
𝑥
Then angular velocity of element at distance x from O = 𝑙 𝛺
If Is is the polar moment of inertia of the shaft, then (kinetic energy) K.E. of element of length 𝑑𝑥
1 𝑑𝑥 𝑥 2
= 𝐼𝑠 × 𝛺
2 𝑙 𝑙
𝐼𝑠 2 1 2 𝐼𝑠 𝛺2
∴ total K. E. of shaft = 3 𝛺 න 𝑥 𝑑𝑥 =
2𝑙 0 2 3
1 𝐼𝑠 2
∴ total K. E. of system = 𝐼 + 𝛺
2 3
Shaft inertia may therefore be allowed for by adding a third of its inertia to that of the rotor.
Torsionally equivalent shaft
Step Shafts

𝜃 = 𝜃𝐴 + 𝜃𝐵 + 𝜃𝐶

𝑇𝑙 𝑇𝑙1 𝑇𝑙2 𝑇𝑙3

⇒ = + +
𝐺𝐽 𝐺𝐽1 𝐺𝐽2 𝐺𝐽3

4 4 4 𝑛 4
𝑑 𝑑 𝑑 𝑑
𝑙 = 𝑙1 + 𝑙2 + 𝑙3 = ෍ 𝑙𝑖
𝑑1 𝑑2 𝑑3 𝑑𝑖
𝑖=1
GEARED SYSTEMS
Gears are used in order to increase or decrease the rotational
speed of a motor.

𝐼𝑓 𝜔 = 𝜔𝐴
2
1 𝜔𝐵 2
1 2
𝐼𝐴 + 𝐼𝐵 𝜔𝐴 = 𝐼𝜔
𝐾. 𝐸1 + 𝐾. 𝐸2 = 𝐾. 𝐸 2 𝜔𝐴 2
Neglecting the effect of the Inertias 𝐼 = 𝐼𝐴 + 𝐼𝐵 𝑟 2
of the gears P and Q. 𝜔𝐵
𝑟=
1 2
1 2
1 2 𝜔𝐴
𝐼𝐴 𝜔𝐴 + 𝐼𝐵 𝜔𝐵 = 𝐼𝜔 𝑙2 𝑑 4
2 2 2 2
𝐼𝐵′ = 𝐼𝐵 𝑟 ; 𝑙2′ =
𝑟 𝑑2
 Example 1
A steel disc 300 mm diameter, of mass 29 kg, is suspended
from the end of a wire 2·5 mm diameter and 1·5 m long which
is clamped into a central hole in the disc, the upper end of
the wire being rigidly supported. When the disc is set in
torsional vibration it is found to make 10 complete oscillations
in 78·2 s. Find the modulus of rigidity of the wire, and calculate
the amplitude of the oscillation which may be allowed if the
maximum permissible intensity of shearing stress in the wire is
140 MN/m2.
Solution 1
Solution. For the wire,
𝜋𝑑 4 𝜋 × 2.54 −12 m4
𝐽= = = 3.84 × 10
32 32 × 1012
For the disc,
𝑚𝑅2 29 × 0.152
𝐼= = = 0.326 kgm2
2 2
1 𝐺𝐽
𝑛=
2𝜋 𝐼𝑙
i.e.
1 × 10 1 𝐺 × 3.84 × 10−12
=
78.2 2𝜋 0.326 × 1.5
Hence 𝐺 = 82.4 GN/m2
𝜏 𝐺𝜃
If 𝜏 is the shear stress in the wire at a radius r, then 𝑟 = 𝑙 , i.e.,
140 × 106
= 82.4 × 109 × 𝜃
0.00125
∴ 𝜃 = 2.04 rad or 1170
Example 2
A solid shaft AB, 50 mm diameter, is fitted at the
end A with a flywheel C, as shown in. Figure
4.8(a). The flywheel C has a mass of 220 kg and a
radius of gyration of 450 mm. A concentric hollow
shaft DE, 75 mm outside diameter, 55 mm inside
diameter and 3m long, is fitted at D with a
flywheel F, of mass 270 kg and radius of gyration
0.6 m. The shaft DE is rigidly fixed to the shaft AB
at the point E. AE = 4 m. Except for this fixing at E,
the two shafts are free to twist relatively to each
other. The modulus of rigidity of the material of
the shafts is 80 GN /m2.
(a) If the flywheel C is rotated relatively to the
flywheel F and released, find the frequency of
the resulting vibrations and the position of the
node,
(b) If the maximum angle of rotation of F relative
to C is 1.20, find the corresponding angular
movement of F relative to the coincident point G
on the shaft AB.
Solution 2
The hollow shaft DE is equivalent to a solid shaft of diameter 50 mm and
length
𝐽𝐴𝐸 504
= 𝑙𝐷𝐸 × =3× 4 4
= 0.834 m
𝐽𝐷𝐸 75 − 55
The given system may therefore be replaced by the two-rotor system
shown above, the shaft being 50 mm diameter throughout and 4·834 m
long. If K is the node,
then 𝐼𝐶 𝑎 = 𝐼𝐹 𝑏
i.e. 220 ×0.452× a = 270 ×0.62× b
Also a + b = 4·834 m
∴ a = 3·315 m and b = 1·519 m
1 𝐺𝐽 1 80 × 109 × 𝜋 × 0.054
∴𝑛= = 2
= 2.9 Hz
2𝜋 𝐼𝐶 𝑎 2𝜋 220 × 0.45 × 32 × 3.315
 Example 3
A uniform shaft 85 mm diameter carries three rotors A, B and C
having moments of inertia of 17, 40 and 24 kg m2 respectively. The
distance between A and B is 0·75 m and between B and C is 135
m. Find the frequencies of the free torsional vibration. If the rotor A
has an amplitude of 10 in each case, find the amplitudes of B and
C. The modulus of rigidity of the shaft is 80 GN/m2.
Solution 3
𝐼𝐵
Referring to Figure, IA = 17 kg m2, IB = 40 kg m2 and IC = 24 kg m2 and, by 𝐼𝐴 𝑎 = 𝐼𝐶 𝑐 = 1 1
+
𝑙1 −𝑎 𝑙2 −𝑐
:. 17a = 24c from which a = 1·413c
and
40
24𝑐 =
1 1
+
0.75 − 1.413𝑐 1.35 − 𝑐
∴ c = 0·342 m or 1·028 m
and a = 0·483 m or 1·454 m
 Solution 3 cont’d…
The first pair of values locate the nodes for the two-node vibration and, substituting in equation (4.3),
80 × 109 × 𝜋 × 0.0854
1 32
𝑛𝐴 = = 35.6 Hz
2𝜋 17 × 0.483
The value c = 1·028m gives the position of the node for the single-node vibration, the value for a being
greater than 0·75 m.
Substituting in equation (4.4),
𝜋
1 80 × 109 × 32 × 0.0854
𝑛𝐶 = = 20.5 Hz
2𝜋 24 × 1.028
If the amplitude of A is 1°, the other amplitudes may be found from the elastic lines shown in Figure 4.5.
For-the-two-node vibration,
𝑙1 − 𝑎 0
0.267
𝜃𝐵 = ×1 = × 10 = 0.5530
𝑎 0.483
𝑐 0.342
and 𝜃𝐶 = × 0.5530 = × 0.5530 = 0.1880
𝑙2 −𝑐 1.008

For the single-node vibration,

𝑎′ − 𝑙1 0.705
𝜃𝐵 = × 10 = × 10 = 0.4840
𝑎′ 0.454
𝑐′ 1.028
and 𝜃𝐶 = 𝑙 × 0.4840 = 0.322 × 0.4840 = 0.5450
2 −𝑐′
 Example 4
Two parallel shafts A and B, of diameters 50 and 75 mm
respectively, are connected by a pair of gear wheels, the
speed of A being five times that of B. A flywheel of mass 55 kg
and radius of gyration 240 mm is mounted on shaft A at a
distance of 0·9 m from the gears. Shaft B also carries a
flywheel, of mass 90 kg and radius of gyration 430 mm, at a
distance of 0·6 m from the gears. Neglecting the effect of the
shaft masses, find the fundamental frequency of free torsional
oscillations, and the position of the node. Modulus of rigidity =
80 GN/m2.
Solution 4
𝐼𝐴 = 55 × 0.242 = 3·17 kg m2, 𝐼𝐵 = 90 × 0.432 = 16.65 kg m2
1
r=
5
1
𝐼𝐵′ = 2 𝑥16.65 = 0.666 kg m2 and 𝑙′2 = 52 ×0·6
5
The given system therefore reduces to a simple two-rotor system, the shaft connecting 𝐼𝐴 and
𝐼𝐵′ being 50 mm diameter and 3·86 m long.
If the node divides the shaft into two parts of lengths a and b, then
𝐼𝐴 𝑎 = 𝐼′𝐵 𝑏
i.e.
3.17
𝑏= 𝑎 = 4.76𝑎
0.666
also a + b = 3·86 m
∴ a = 0·67 m
80 × 10 9 × 𝜋 × 0.054
1 𝐺𝐽 1 32
∴ 𝑛= = = 24.2 Hz
2𝜋 𝐼𝐴 𝑎 2𝜋 3.17 × 0.67
The node occurs at a distance of 0·67 m from rotor A.
ASSIGNMENT 1
A rotor has a mass of 225 kg and has a radius of gyration of
400 mm. It is bolted between the ends of two shafts one of
which is 75 mm diameter, 0.9 m long and the other is 65 mm
diameter, 0·45 m long. The other ends of the shafts are
rigidly fixed in position. Find the frequency of the natural
torsional vibrations of the system.
ASSIGNMENT 2
The upper end of a vertical steel wire 2 mm diameter and 2
m long is held securely. The other end is fixed central to a
steel cylinder, 75 mm diameter and of density 7.8Mg/m3,
arranged with its axis horizontally. Find the length of the
cylinder to give 0·6 torsional vibration per second.
Calculate the amplitude of the vibrations when the
maximum shearing stress is 120 MN/m2.
 ASSIGNMENT 3
A solid shaft AB, of 100 mm diameter, is rigidly connected at its
ends to two hollow shafts AC and ED (both of external
diameter 138 mm and internal diameter 106 mm, At C and D
two masses of 130 kg and 250 kg, and of radius of gyration 175
mm and 375 mm respectively, are attached to the ends of the
hollow shafts. Determine from first principles the frequency of
free torsional vibrations and the position of the node.
 Assignment 4
The upper end of a vertical steel wire 2 mm diameter and 2 m
long is held securely. The other end is fixed central to a steel
cylinder, 75 mm diameter and of density 781 kg/𝑚3 , arranged
with its axis horizontally. Find the length of the
• cylinder to give 0.6 torsional vibration per second.
• Calculate the amplitude of the vibrations when the
maximum shearing stress is 120 N/𝑚2 .